Diff: kohiMD.cpp

Revision:

1:87d96da7a474

Child:

2:103c3a6c7389

Child:

5:89c4237ef94a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/kohiMD.cpp	Mon Jan 27 09:17:43 2020 +0000
@@ -0,0 +1,32 @@
+#include "kohiMD.h"
+#include "mbed.h"
+
+KohiMD::KohiMD(PinName pwmPin) : pwmMD(pwmPin),
+mdlpf(1.0/300,0.005),
+pc(USBTX,USBRX,115200)
+{
+    pwmMD.period(1.0/25000.0);
+    pwmMD.write(0.5);
+//    threadMD.start(callback(this, &HaseMD::MDloop));
+    drive.attach(callback(this,&KohiMD::MDloop),1.0/200.0);
+}
+
+void KohiMD::setSpeed(double speed_)
+{
+    speed = speed_;
+//    pc.printf("%f \n\r",_pwmMD);
+}
+
+void KohiMD::MDloop()
+{
+//    while(true){
+        _pwmMD = mdlpf.path_value(speed);
+        _pwmMD = 0.5 + _pwmMD /2.0;
+        if(_pwmMD > 0.9) _pwmMD = 0.9;
+        if(_pwmMD < 0.1) _pwmMD = 0.1;
+        pwmMD.write(_pwmMD);
+//        pc.printf("%f \n\r",_pwmMD);
+//        ThisThread::sleep_for(1000.0/400);
+//        threadMD.wait(1000.0/400);
+//        }
+}
\ No newline at end of file